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AP_DroneCAN: add NotifyState.landing & taking off

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Tom Pittenger 2023-06-26 09:24:30 -07:00 committed by Tom Pittenger
parent b271a20e97
commit 461671eaf3
1 changed files with 13 additions and 0 deletions
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13
libraries/AP_DroneCAN/AP_DroneCAN.cpp
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@ -29,6 +29,7 @@
#include <AP_GPS/AP_GPS_DroneCAN.h>
#include <AP_Compass/AP_Compass_DroneCAN.h>
#include <AP_Baro/AP_Baro_DroneCAN.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_BattMonitor/AP_BattMonitor_DroneCAN.h>
#include <AP_Airspeed/AP_Airspeed_DroneCAN.h>
#include <AP_OpticalFlow/AP_OpticalFlow_HereFlow.h>
@ -813,6 +814,18 @@ void AP_DroneCAN::notify_state_send()
msg.vehicle_state |= 1 << ARDUPILOT_INDICATION_NOTIFYSTATE_VEHICLE_STATE_THROW_READY;
}
#ifndef HAL_BUILD_AP_PERIPH
const AP_Vehicle* vehicle = AP::vehicle();
if (vehicle != nullptr) {
if (vehicle->is_landing()) {
msg.vehicle_state |= 1 << ARDUPILOT_INDICATION_NOTIFYSTATE_VEHICLE_STATE_IS_LANDING;
}
if (vehicle->is_taking_off()) {
msg.vehicle_state |= 1 << ARDUPILOT_INDICATION_NOTIFYSTATE_VEHICLE_STATE_IS_TAKING_OFF;
}
}
#endif // HAL_BUILD_AP_PERIPH
msg.aux_data_type = ARDUPILOT_INDICATION_NOTIFYSTATE_VEHICLE_YAW_EARTH_CENTIDEGREES;
uint16_t yaw_cd = (uint16_t)(360.0f - degrees(AP::ahrs().get_yaw()))*100.0f;
const uint8_t *data = (uint8_t *)&yaw_cd;